From ed6936545d20cc490145d2936cee4387be2afd53 Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期一, 22 十二月 2025 19:04:34 +0800
Subject: [PATCH] 优化了导航预览模式
---
src/zhuye/MapRenderer.java | 227 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 227 insertions(+), 0 deletions(-)
diff --git a/src/zhuye/MapRenderer.java b/src/zhuye/MapRenderer.java
index 31b93b8..1eb0bd2 100644
--- a/src/zhuye/MapRenderer.java
+++ b/src/zhuye/MapRenderer.java
@@ -31,6 +31,7 @@
import zhangaiwu.Obstacledge;
import zhangaiwu.yulanzhangaiwu;
import yaokong.Control03;
+import bianjie.shudongdraw;
/**
* 鍦板浘娓叉煋鍣� - 璐熻矗鍧愭爣绯荤粯鍒躲�佽鍥惧彉鎹㈢瓑鍔熻兘
@@ -102,9 +103,16 @@
private boolean measurementModeActive = false; // 娴嬮噺妯″紡鏄惁婵�娲�
private boolean handheldBoundaryPreviewActive;
private boolean pendingTrackBreak = true;
+ private bianjie.shudongdraw manualBoundaryDrawer = new bianjie.shudongdraw(); // 鎵嬪姩缁樺埗杈圭晫缁樺埗鍣�
private boolean idleTrailSuppressed;
private Path2D.Double realtimeBoundaryPathCache;
private String realtimeBoundaryPathLand;
+ private WangfanDraw returnPathDrawer; // 寰�杩旇矾寰勭粯鍒剁鐞嗗櫒
+ private List<Point2D.Double> currentReturnPath; // 褰撳墠鍦板潡鐨勫線杩旇矾寰勶紙鐢ㄤ簬鏄剧ず锛�
+ private List<Point2D.Double> previewReturnPath; // 棰勮鐨勫線杩旇矾寰�
+ private List<Point2D.Double> previewOriginalBoundary; // 棰勮鐨勫師濮嬭竟鐣岋紙绱壊锛�
+ private List<Point2D.Double> previewOptimizedBoundary; // 棰勮鐨勪紭鍖栧悗杈圭晫
+ private boolean boundaryPreviewActive; // 鏄惁澶勪簬杈圭晫棰勮妯″紡
private static final double TRACK_SAMPLE_MIN_DISTANCE_METERS = 0.2d;
private static final double TRACK_DUPLICATE_TOLERANCE_METERS = 1e-3d;
@@ -207,6 +215,14 @@
lastDragPoint = null;
dragInProgress = false;
}
+
+ public void mouseExited(MouseEvent e) {
+ // 榧犳爣绂诲紑闈㈡澘鏃讹紝娓呴櫎榧犳爣浣嶇疆鏄剧ず
+ if (manualBoundaryDrawer.isManualBoundaryDrawingMode()) {
+ manualBoundaryDrawer.clearMousePosition();
+ visualizationPanel.repaint();
+ }
+ }
public void mouseClicked(MouseEvent e) {
if (dragInProgress) {
@@ -216,6 +232,14 @@
if (!SwingUtilities.isLeftMouseButton(e) || e.getClickCount() != 1) {
return;
}
+ // 浼樺厛澶勭悊鎵嬪姩缁樺埗杈圭晫妯″紡鐐瑰嚮
+ if (manualBoundaryDrawer.isManualBoundaryDrawingMode()) {
+ Point2D.Double worldPoint = screenToWorld(e.getPoint());
+ if (manualBoundaryDrawer.handleClick(worldPoint)) {
+ visualizationPanel.repaint();
+ return;
+ }
+ }
// 浼樺厛澶勭悊娴嬮噺妯″紡鐐瑰嚮
if (measurementModeActive && handleMeasurementClick(e.getPoint())) {
return;
@@ -248,6 +272,17 @@
visualizationPanel.repaint();
}
}
+
+ public void mouseMoved(MouseEvent e) {
+ // 鍦ㄦ墜鍔ㄧ粯鍒惰竟鐣屾ā寮忔椂锛屾洿鏂伴紶鏍囦綅缃�
+ if (manualBoundaryDrawer.isManualBoundaryDrawingMode()) {
+ Point2D.Double worldPoint = screenToWorld(e.getPoint());
+ manualBoundaryDrawer.updateMousePosition(worldPoint);
+ visualizationPanel.repaint();
+ } else {
+ manualBoundaryDrawer.clearMousePosition();
+ }
+ }
});
}
@@ -365,6 +400,11 @@
if (hasBoundary) {
drawCurrentBoundary(g2d);
}
+
+ // 缁樺埗杈圭晫棰勮锛堝師濮嬭竟鐣�-绱壊锛屼紭鍖栧悗杈圭晫锛�
+ if (boundaryPreviewActive) {
+ drawBoundaryPreview(g2d);
+ }
yulanzhangaiwu.renderPreview(g2d, scale);
@@ -378,6 +418,12 @@
adddikuaiyulan.drawPreview(g2d, handheldBoundaryPreview, scale, handheldBoundaryPreviewActive, boundaryPreviewMarkerScale);
+ // 缁樺埗鎵嬪姩缁樺埗鐨勮竟鐣�
+ manualBoundaryDrawer.drawBoundary(g2d, scale);
+
+ // 缁樺埗榧犳爣瀹炴椂浣嶇疆锛堟墜鍔ㄧ粯鍒惰竟鐣屾ā寮忔椂锛�
+ manualBoundaryDrawer.drawMousePosition(g2d, scale);
+
// 缁樺埗瀵艰埅璺緞锛堜腑灞傦級
if (hasPlannedPath) {
drawCurrentPlannedPath(g2d);
@@ -424,6 +470,17 @@
drawNavigationPreviewCoverage(g2d);
}
+ // 鍏堢敾寰�杩旇矾寰勶紙绾�+鐐癸級锛屼繚璇佸壊鑽夋満鍥炬爣鍦ㄥ叾涓婃柟
+ if (returnPathDrawer != null && returnPathDrawer.isActive()) {
+ returnPathDrawer.draw(g2d, scale);
+ } else if (previewReturnPath != null && !previewReturnPath.isEmpty()) {
+ // 缁樺埗棰勮鐨勫線杩旇矾寰勶紙閾佺嚎璺浘椋庢牸锛�
+ WangfanDraw.drawRailwayPath(g2d, previewReturnPath, scale);
+ } else if (currentReturnPath != null && !currentReturnPath.isEmpty()) {
+ // 缁樺埗淇濆瓨鐨勫線杩旇矾寰勶紙閾佺嚎璺浘椋庢牸锛�
+ WangfanDraw.drawRailwayPath(g2d, currentReturnPath, scale);
+ }
+
drawMower(g2d);
// 缁樺埗瀵艰埅棰勮閫熷害锛堝鏋滄鍦ㄥ鑸瑙堬級
@@ -927,6 +984,14 @@
mowerEffectiveWidthMeters = defaultMowerWidthMeters;
}
+ // 鍔犺浇寰�杩旇矾寰�
+ String returnPathStr = dikuai != null ? dikuai.getReturnPathCoordinates() : null;
+ if (returnPathStr != null && !returnPathStr.isEmpty() && !"-1".equals(returnPathStr)) {
+ currentReturnPath = lujingdraw.parsePlannedPath(returnPathStr);
+ } else {
+ currentReturnPath = null;
+ }
+
loadRealtimeTrack(landNumber, dikuai != null ? dikuai.getMowingTrack() : null);
visualizationPanel.repaint();
}
@@ -1223,6 +1288,33 @@
}
/**
+ * 璁剧疆鎵嬪姩缁樺埗杈圭晫妯″紡
+ */
+ public void setManualBoundaryDrawingMode(boolean active) {
+ manualBoundaryDrawer.setManualBoundaryDrawingMode(active);
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ /**
+ * 鑾峰彇鎵嬪姩缁樺埗鐨勮竟鐣岀偣鍒楄〃
+ */
+ public List<Point2D.Double> getManualBoundaryPoints() {
+ return manualBoundaryDrawer.getManualBoundaryPoints();
+ }
+
+ /**
+ * 娓呯┖鎵嬪姩缁樺埗鐨勮竟鐣岀偣
+ */
+ public void clearManualBoundaryPoints() {
+ manualBoundaryDrawer.clearManualBoundaryPoints();
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ /**
* 璁剧疆娴嬮噺妯″紡
*/
public void setMeasurementMode(boolean active) {
@@ -2931,5 +3023,140 @@
public Gecaoji getMower() {
return mower;
}
+
+ /**
+ * 璁剧疆寰�杩旇矾寰勭粯鍒剁鐞嗗櫒
+ */
+ public void setReturnPathDrawer(WangfanDraw drawer) {
+ this.returnPathDrawer = drawer;
+ }
+
+ /**
+ * 璁剧疆棰勮鐨勫線杩旇矾寰�
+ */
+ public void setPreviewReturnPath(List<Point2D.Double> path) {
+ this.previewReturnPath = path;
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ /**
+ * 寮�濮嬪線杩旇矾寰勭粯鍒�
+ */
+ public void startReturnPathDrawing() {
+ if (returnPathDrawer != null) {
+ // 绂佺敤鎷栧熬鏁堟灉锛堝湪寰�杩旇矾寰勭粯鍒舵ā寮忎笅涓嶆樉绀哄疄鏃惰建杩规嫋灏撅級
+ idleTrailSuppressed = true;
+ clearIdleMowerTrail();
+ // 娓呯┖涔嬪墠鐨勮矾寰勭偣锛堥�氳繃 WangfanDraw 绠＄悊锛�
+ repaint();
+ }
+ }
+
+ /**
+ * 鍋滄寰�杩旇矾寰勭粯鍒�
+ */
+ public void stopReturnPathDrawing() {
+ // 鎭㈠鎷栧熬鏁堟灉
+ idleTrailSuppressed = false;
+ repaint();
+ }
+
+ /**
+ * 璁剧疆鎷栧熬鎶戝埗鐘舵��
+ * @param suppressed true琛ㄧず鎶戝埗鎷栧熬缁樺埗锛宖alse琛ㄧず鍏佽鎷栧熬缁樺埗
+ */
+ public void setIdleTrailSuppressed(boolean suppressed) {
+ idleTrailSuppressed = suppressed;
+ if (suppressed && !idleMowerTrail.isEmpty()) {
+ clearIdleMowerTrail();
+ }
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ /**
+ * 娣诲姞寰�杩旇矾寰勭偣锛堝凡搴熷純锛岃矾寰勭偣鐢� WangfanDraw 鐩存帴绠＄悊锛�
+ */
+ @Deprecated
+ public void addReturnPathPoint(double x, double y) {
+ // 璺緞鐐圭敱 WangfanDraw 鐩存帴绠＄悊锛岃繖閲屽彧闇�瑕侀噸缁�
+ repaint();
+ }
+
+ /**
+ * 鑾峰彇寰�杩旇矾寰勭偣鍒楄〃鐨勫揩鐓�
+ */
+ public List<Point2D.Double> getReturnPathPointsSnapshot() {
+ if (returnPathDrawer != null) {
+ return returnPathDrawer.getPointsSnapshot();
+ }
+ return new ArrayList<>();
+ }
+
+ /**
+ * 璁剧疆杈圭晫棰勮鏁版嵁锛堝師濮嬭竟鐣屽拰浼樺寲鍚庤竟鐣岋級
+ */
+ public void setBoundaryPreview(String originalBoundaryXY, String optimizedBoundary) {
+ if (originalBoundaryXY != null && !originalBoundaryXY.trim().isEmpty() && !"-1".equals(originalBoundaryXY.trim())) {
+ previewOriginalBoundary = parseBoundary(originalBoundaryXY.trim());
+ } else {
+ previewOriginalBoundary = null;
+ }
+
+ if (optimizedBoundary != null && !optimizedBoundary.trim().isEmpty() && !"-1".equals(optimizedBoundary.trim())) {
+ previewOptimizedBoundary = parseBoundary(optimizedBoundary.trim());
+ } else {
+ previewOptimizedBoundary = null;
+ }
+
+ boundaryPreviewActive = (previewOriginalBoundary != null && previewOriginalBoundary.size() >= 2) ||
+ (previewOptimizedBoundary != null && previewOptimizedBoundary.size() >= 2);
+
+ if (boundaryPreviewActive) {
+ // 璁＄畻棰勮杈圭晫鐨勮竟鐣屾骞惰皟鏁磋鍥�
+ List<Point2D.Double> allPoints = new ArrayList<>();
+ if (previewOriginalBoundary != null) allPoints.addAll(previewOriginalBoundary);
+ if (previewOptimizedBoundary != null) allPoints.addAll(previewOptimizedBoundary);
+ if (!allPoints.isEmpty()) {
+ Rectangle2D.Double bounds = computeBounds(allPoints);
+ SwingUtilities.invokeLater(() -> {
+ fitBoundsToView(bounds);
+ visualizationPanel.repaint();
+ });
+ }
+ } else {
+ visualizationPanel.repaint();
+ }
+ }
+
+ /**
+ * 娓呴櫎杈圭晫棰勮
+ */
+ public void clearBoundaryPreview() {
+ previewOriginalBoundary = null;
+ previewOptimizedBoundary = null;
+ boundaryPreviewActive = false;
+ visualizationPanel.repaint();
+ }
+
+ /**
+ * 缁樺埗杈圭晫棰勮锛堝師濮嬭竟鐣�-绱壊锛屼紭鍖栧悗杈圭晫-缁胯壊锛�
+ */
+ private void drawBoundaryPreview(Graphics2D g2d) {
+ // 缁樺埗鍘熷杈圭晫锛堢传鑹诧級
+ if (previewOriginalBoundary != null && previewOriginalBoundary.size() >= 2) {
+ Color purpleFill = new Color(128, 0, 128, 80); // 绱壊鍗婇�忔槑濉厖
+ Color purpleBorder = new Color(128, 0, 128, 255); // 绱壊杈规
+ bianjiedrwa.drawBoundary(g2d, previewOriginalBoundary, scale, purpleFill, purpleBorder);
+ }
+
+ // 缁樺埗浼樺寲鍚庤竟鐣岋紙缁胯壊锛屼笌姝ｅ父杈圭晫棰滆壊涓�鑷达級
+ if (previewOptimizedBoundary != null && previewOptimizedBoundary.size() >= 2) {
+ bianjiedrwa.drawBoundary(g2d, previewOptimizedBoundary, scale, GRASS_FILL_COLOR, GRASS_BORDER_COLOR);
+ }
+ }
}
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